Planning model of a group UAV flight in three-dimensional space

Abstract The paper describes the algorithm and model for planning group actions of unmanned aerial vehicles (UAVs) to monitor a given set of objects. A distinctive feature of the task is the shooting of objects from a predetermined height. This makes it necessary to move from considering a “flat” model to planning a flight in three-dimensional space. In addition, the authors take into account the possibility of destroying individual UAVs and the need to reschedule the flight route for the remaining UAVs in order to accomplish the assigned task.